A Practical and Effective Layout for a Safe Human-Robot Collaborative Assembly Task

Scimmi, Leonardo Sabatino; Melchiorre, Matteo; Troise, Mario; Mauro, Stefano; Pastorelli, Stefano Paolo

doi:10.3390/app11041763

Cited by 35 publications

(11 citation statements)

References 24 publications

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“…Keeping a predefined distance between the robot and the human is a safety measurement that will, in all motions, interfere with the robot's path planning. Different types of sensors and several strategies have been adopted to avoid potential collisions by jointly considering aspects of human monitoring and motion planning [44][45][46][47][48][49][50][51][52][53][54][55][56][57][58]. When it comes to physical humanrobot interaction (pHRI), ref.…”

Section: Safety In Hrcmentioning

confidence: 99%

Trends of Human-Robot Collaboration in Industry Contexts: Handover, Learning, and Metrics

Castro

Silva

Santos

2021

Sensors

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Repetitive industrial tasks can be easily performed by traditional robotic systems. However, many other works require cognitive knowledge that only humans can provide. Human-Robot Collaboration (HRC) emerges as an ideal concept of co-working between a human operator and a robot, representing one of the most significant subjects for human-life improvement.The ultimate goal is to achieve physical interaction, where handing over an object plays a crucial role for an effective task accomplishment. Considerable research work had been developed in this particular field in recent years, where several solutions were already proposed. Nonetheless, some particular issues regarding Human-Robot Collaboration still hold an open path to truly important research improvements. This paper provides a literature overview, defining the HRC concept, enumerating the distinct human-robot communication channels, and discussing the physical interaction that this collaboration entails. Moreover, future challenges for a natural and intuitive collaboration are exposed: the machine must behave like a human especially in the pre-grasping/grasping phases and the handover procedure should be fluent and bidirectional, for an articulated function development. These are the focus of the near future investigation aiming to shed light on the complex combination of predictive and reactive control mechanisms promoting coordination and understanding. Following recent progress in artificial intelligence, learning exploration stand as the key element to allow the generation of coordinated actions and their shaping by experience.

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Section: Safety In Hrcmentioning

confidence: 99%

Trends of Human-Robot Collaboration in Industry Contexts: Handover, Learning, and Metrics

Castro

Silva

Santos

2021

Sensors

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“…The proposed analysis approach has been validated through its application on various existing industrial HRC applications, research demonstrators and interviews of experts from academia. Scimmi et al, [13] described an HRC layout for assembly task and tested it in a case where the robot and operator shared the one workspace at the same time at real time. The robot performs pick-and-place tasks to provide an operator the parts to be assembled.…”

Section: Introductionmentioning

confidence: 99%

Robotic Window Assembly – A Simulation Study and a Proposed Self-Adaptive Software Architecture

Ziada

Schauerte

Pocorni

et al. 2022

Advances in Transdisciplinary Engineering

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The key driving factors in using humans and robots in collaborative applications for assembly processes are to reduce assembly time, cost and to improve the human working environment from an ergonomic viewpoint. Currently, there are limited automated procedures in assembly operations in house construction because the traditional type of assembly process depends entirely on manpower. This is common in the assembly process in different industries since assembly is one of the most demanding and intense manufacturing processes, and it is difficult to automate. This paper presents a case study on the implementation of human-robot collaboration for window assembly by way of an offline robot programming simulation. A self-adaptive software architecture that runs on a real-time target machine is also proposed for robotic window assembly. The window assembly method that will be used in this study is called “Click-In” and is manufactured by Fixture System Sweden AB. Apart from robot simulations, detailed suggestions are given for building a pilot cell for robot window assembly. The case study presented in this paper has both economical and ergonomic goals. The economic goal is to reduce the assembly time which will lead to an increase in window production. By introducing human-robot collaboration, operators do not need to perform uncomfortable assembly operations—rather the robot will perform these un-ergonomic operations. The feasibility of both goals is verified with offline robot programming simulation.

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“…On one side, the robot must be aware of a human operator, and on the other side, the operator needs to be aware of the current status of the robot system. Advanced workplaces may include monitoring systems [ 4 , 5 , 6 ] enabling the robot to react to (and potentially predict [ 7 , 8 , 9 , 10 , 11 ]) the operator’s movements by immediately stopping the activity or by replanning the trajectory [ 12 , 13 , 14 ]. However, a workspace monitoring system enabling the robot to avoid collisions can be considered as one-side awareness, but the other side of communication remains unresolved.…”

Section: Introductionmentioning

confidence: 99%

Improved Mutual Understanding for Human-Robot Collaboration: Combining Human-Aware Motion Planning with Haptic Feedback Devices for Communicating Planned Trajectory

Grushko

Vysocký

Oščádal

et al. 2021

Sensors

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In a collaborative scenario, the communication between humans and robots is a fundamental aspect to achieve good efficiency and ergonomics in the task execution. A lot of research has been made related to enabling a robot system to understand and predict human behaviour, allowing the robot to adapt its motion to avoid collisions with human workers. Assuming the production task has a high degree of variability, the robot’s movements can be difficult to predict, leading to a feeling of anxiety in the worker when the robot changes its trajectory and approaches since the worker has no information about the planned movement of the robot. Additionally, without information about the robot’s movement, the human worker cannot effectively plan own activity without forcing the robot to constantly replan its movement. We propose a novel approach to communicating the robot’s intentions to a human worker. The improvement to the collaboration is presented by introducing haptic feedback devices, whose task is to notify the human worker about the currently planned robot’s trajectory and changes in its status. In order to verify the effectiveness of the developed human-machine interface in the conditions of a shared collaborative workspace, a user study was designed and conducted among 16 participants, whose objective was to accurately recognise the goal position of the robot during its movement. Data collected during the experiment included both objective and subjective parameters. Statistically significant results of the experiment indicated that all the participants could improve their task completion time by over 45% and generally were more subjectively satisfied when completing the task with equipped haptic feedback devices. The results also suggest the usefulness of the developed notification system since it improved users’ awareness about the motion plan of the robot.

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A Practical and Effective Layout for a Safe Human-Robot Collaborative Assembly Task

Cited by 35 publications

References 24 publications

Trends of Human-Robot Collaboration in Industry Contexts: Handover, Learning, and Metrics

Trends of Human-Robot Collaboration in Industry Contexts: Handover, Learning, and Metrics

Robotic Window Assembly – A Simulation Study and a Proposed Self-Adaptive Software Architecture

Improved Mutual Understanding for Human-Robot Collaboration: Combining Human-Aware Motion Planning with Haptic Feedback Devices for Communicating Planned Trajectory

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